/*
This file is part of CanFestival, a library implementing CanOpen Stack.

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>
#include <stdlib.h>

/* driver pcan pci for Peak board */
//#include "libpcan.h"
//#include "pcan.h"

#include "libpcan.h" // for CAN_HANDLE

#include "can_driver.h"

// Define for rtr CAN message
#define CAN_INIT_TYPE_ST_RTR MSGTYPE_STANDARD | MSGTYPE_RTR

/*********functions which permit to communicate with the board****************/
UNS8 canReceive_driver(CAN_HANDLE fd0, Message* m)
{
    UNS8 data;
    TPCANMsg peakMsg;
    if ((errno = CAN_Read(fd0, & peakMsg)))       // Blocks until no new message or error.
    {
        if (errno != -EIDRM && errno != -EPERM)   // error is not "Can Port closed while reading"
        {
            perror("canReceive_driver (Peak_Linux) : error of reading.\n");
        }
        return 1;
    }
    m->cob_id = peakMsg.ID;
    if (peakMsg.MSGTYPE == CAN_INIT_TYPE_ST)          /* bits of MSGTYPE_*/
    {
        m->rtr = 0;
    }
    else
    {
        m->rtr = 1;
    }
    m->len = peakMsg.LEN;                 /* count of data bytes (0..8) */
    for (data = 0  ; data < peakMsg.LEN ; data++)
    {
        m->data[data] = peakMsg.DATA[data];    /* data bytes, up to 8 */
    }
#if defined DEBUG_MSG_CONSOLE_ON
    MSG("in : ");
    print_message(m);
#endif
    return 0;
}

/***************************************************************************/
UNS8 canSend_driver(CAN_HANDLE fd0, Message const* m)
{
    UNS8 data;
    TPCANMsg peakMsg;
    peakMsg.ID = m -> cob_id;                     /* 11/29 bit code */
    if (m->rtr == 0)
    {
        peakMsg.MSGTYPE = CAN_INIT_TYPE_ST;    /* bits of MSGTYPE_*/
    }
    else
    {
        peakMsg.MSGTYPE = CAN_INIT_TYPE_ST_RTR;       /* bits of MSGTYPE_*/
    }
    peakMsg.LEN = m->len;
    /* count of data bytes (0..8) */
    for (data = 0 ; data <  m->len; data ++)
    {
        peakMsg.DATA[data] = m->data[data];    /* data bytes, up to 8 */
    }
#if defined DEBUG_MSG_CONSOLE_ON
    MSG("out : ");
    print_message(m);
#endif
    if ((errno = CAN_Write(fd0, & peakMsg)))
    {
        perror("canSend_driver (Peak_Linux) : error of writing.\n");
        return 1;
    }
    return 0;
}


/***************************************************************************/
int TranslateBaudeRate(char* optarg)
{
    if (!strcmp(optarg, "1M"))
    {
        return CAN_BAUD_1M;
    }
    if (!strcmp(optarg, "500K"))
    {
        return CAN_BAUD_500K;
    }
    if (!strcmp(optarg, "250K"))
    {
        return CAN_BAUD_250K;
    }
    if (!strcmp(optarg, "125K"))
    {
        return CAN_BAUD_125K;
    }
    if (!strcmp(optarg, "100K"))
    {
        return CAN_BAUD_100K;
    }
    if (!strcmp(optarg, "50K"))
    {
        return CAN_BAUD_50K;
    }
    if (!strcmp(optarg, "20K"))
    {
        return CAN_BAUD_20K;
    }
    if (!strcmp(optarg, "10K"))
    {
        return CAN_BAUD_10K;
    }
    if (!strcmp(optarg, "5K"))
    {
        return CAN_BAUD_5K;
    }
    if (!strcmp(optarg, "none"))
    {
        return 0;
    }
    return 0x0000;
}

UNS8 canChangeBaudRate_driver(CAN_HANDLE fd, char* baud)
{
    printf("canChangeBaudRate not yet supported by this driver\n");
    return 0;
}

/***************************************************************************/
CAN_HANDLE canOpen_driver(s_BOARD* board)
{
    HANDLE fd0 = NULL;
    char busname[64];
    char* pEnd;
    int baudrate;
    if (strtol(board->busname, &pEnd, 0) >= 0)
    {
        sprintf(busname, "/dev/pcan%s", board->busname);
        fd0 = LINUX_CAN_Open(busname, O_RDWR);
    }
    if (fd0 && (baudrate = TranslateBaudeRate(board->baudrate)))
    {
        CAN_Init(fd0, baudrate, CAN_INIT_TYPE_ST);
    }
    else
    {
        fprintf(stderr, "canOpen_driver (Peak_Linux) : error opening %s\n", busname);
    }
    return (CAN_HANDLE)fd0;
}

/***************************************************************************/
int canClose_driver(CAN_HANDLE fd0)
{
    CAN_Close(fd0);
    return 0;
}
